Methods of fabricating semiconductor devices and structures thereof are disclosed. In a preferred embodiment, a method of fabricating a semiconductor device includes providing a workpiece having a plurality of trenches formed therein, forming a liner over the workpiece, and forming a layer of photosensitive material over the liner. The layer of photosensitive material is removed from over the workpiece except from over at least a portion of each of the plurality of trenches. The layer of photosensitive material is partially removed from over the workpiece, leaving a portion of the layer of photosensitive material remaining within a lower portion of the plurality of trenches over the liner.
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1. A method of fabricating a semiconductor device, the method comprising:
providing a workpiece having a top surface and a plurality of trenches formed therein;
forming a liner over the plurality of trenches and over the top surface of the workpiece;
forming a layer of photosensitive material over the liner that fills the plurality of trenches;
removing the layer of photosensitive material from over the workpiece except from over at least a portion of each of the plurality of trenches; and
partially removing the layer of photosensitive material from over the plurality of trenches leaving a portion of the layer of photosensitive material remaining within a lower portion of the plurality, said portion extending from a bottom of said trenches to a top level in said trenches that is below said top surface of said workpiece and that protects the liner.
6. A method of fabricating a semiconductor device, the method comprising:
providing a workpiece, the workpiece having a top surface;
forming a plurality of trenches in the workpiece, each of the plurality of trenches comprising sidewalls, a bottom surface, a lower portion, and an upper portion;
forming a liner over the sidewalls and the bottom surface of the plurality of trenches and over the top surface of the workpiece;
forming a layer of photosensitive material over the workpiece, filling the plurality of trenches with the layer of photosensitive material;
patterning the layer of photosensitive material, removing the layer of photosensitive material from over portions of the workpiece and leaving the layer of photosensitive material over at least a portion of the plurality of trenches;
etching the layer of photosensitive material to a depth that is below said top surface of said workpiece, leaving a portion of the layer of photosensitive material remaining within the lower portion of the plurality of trenches over the liner; and
using the layer of photosensitive material as a mask to pattern the liner, removing the liner from the sidewalls of the upper portion of the plurality of trenches, the removed liner portion extending from said top surface of said substrate down to said selected depth.
18. A method of fabricating a semiconductor device, the method comprising:
providing a workpiece, the workpiece having a first region and a second region;
patterning the workpiece to form a plurality of trenches in the second region but not in the first region of the workpiece;
forming a layer of photosensitive material over the workpiece, wherein the layer of photosensitive material has a greater height over the first region than over the second region of the workpiece;
removing the layer of photosensitive material from over at least a portion of the first region of the workpiece and from over portions of the second region of the workpiece, leaving the layer of photosensitive material over at least a portion of each of the plurality of trenches in the second region of the workpiece; and
etching the layer of photosensitive material, leaving the layer of photosensitive material in a lower portion of each of the plurality of trenches in the second region of the workpiece, wherein the layer of photosensitive material comprises substantially the same dimension beneath a top surface of the workpiece within each of the plurality of trenches, or wherein the layer of photosensitive material comprises a first dimension on a first sidewall of each of the plurality of trenches and a second dimension on a second sidewall opposing the first sidewall of each of the plurality of trenches.
12. A method of fabricating a semiconductor device, the method comprising:
providing a workpiece, the workpiece having a top surface;
providing a first lithography mask, the first lithography mask including a pattern for a plurality of trenches;
patterning the workpiece using the first lithography mask, forming a plurality of trenches in the workpiece, each of the plurality of trenches comprising sidewalls, a bottom surface, a lower portion, and an upper portion;
forming a liner over the sidewalls and the bottom surface of the plurality of trenches and over the top surface of the workpiece;
forming a layer of photosensitive material over the workpiece, filling the plurality of trenches with the layer of photosensitive material;
providing a second lithography mask, the second lithography mask including a reverse pattern of the first lithography mask;
patterning the layer of photosensitive material using the second lithography mask, leaving the layer of photosensitive material over at least a portion of each of the plurality of trenches;
etching the layer of photosensitive material, leaving a portion of the layer of photosensitive material remaining within the lower portion of the plurality of trenches over the liner; and
using the layer of photosensitive material as a mask to pattern the liner, removing the liner from the sidewalls of the upper portion of each of the plurality of trenches.
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The present invention relates generally to the fabrication of semiconductor devices, and more particularly to the fabrication of trench structures of semiconductor devices.
Semiconductor devices are used in a variety of electronic applications, such as computers, cellular phones, personal computing devices, and many other applications. Home, industrial, and automotive devices that in the past comprised only mechanical components now have electronic parts that require semiconductor devices, for example.
Semiconductor devices are manufactured by depositing many different types of material layers over a semiconductor substrate or wafer, and patterning the various material layers using lithography. The material layers typically comprise thin films of conductive, semiconductive, and insulating materials that are patterned and etched to form integrated circuits (IC's). There may be a plurality of transistors, memory devices, switches, conductive lines, diodes, capacitors, logic circuits, and other electronic components formed on a single die or chip.
In many semiconductor device designs, trenches are formed within a workpiece, and the trenches are filled with various types of materials, depending on the trench structures to be formed. For example, some trench structures comprise transistors or memory devices. Other trench structures comprise isolation regions that provide electrical isolation between active areas or electronic components formed on an integrated circuit. To form isolation regions, trenches are usually formed in a substrate, and the trenches are filled with insulating materials and other fill materials.
Many other types of devices and components of semiconductor devices are formed using trench structures. For example, wordlines and bitlines of many memory devices are often formed using damascene techniques, by etching trenches in an insulating material and backfilling the trenches with conductive liners and conductive fill materials such as copper.
It is important in many semiconductor device designs that same amount of insulating material, liners, or other fill materials be formed within each trench across a surface of a single die or workpiece, in order to insure adequate electrical isolation and/or performance or uniform operating parameters, for example.
Thus, what are needed in the art are improved methods of forming trench structures of semiconductor devices and structures thereof.
These and other problems are generally solved or circumvented, and technical advantages are generally achieved, by preferred embodiments of the present invention, which provide novel methods of forming trench structures of semiconductor devices and structures thereof.
In accordance with a preferred embodiment of the present invention, a method of fabricating a semiconductor device includes providing a workpiece having a plurality of trenches formed therein, forming a liner over the workpiece, forming a layer of photosensitive material over the liner, and removing the layer of photosensitive material from over the workpiece except from over at least a portion of each of the plurality of trenches. The layer of photosensitive material is partially removed from over the workpiece, leaving a portion of the layer of photosensitive material remaining within a lower portion of the trenches over the liner.
The foregoing has outlined rather broadly the features and technical advantages of embodiments of the present invention in order that the detailed description of the invention that follows may be better understood. Additional features and advantages of embodiments of the invention will be described hereinafter, which form the subject of the claims of the invention. It should be appreciated by those skilled in the art that the conception and specific embodiments disclosed may be readily utilized as a basis for modifying or designing other structures or processes for carrying out the same purposes of the present invention. It should also be realized by those skilled in the art that such equivalent constructions do not depart from the spirit and scope of the invention as set forth in the appended claims.
For a more complete understanding of the present invention, and the advantages thereof, reference is now made to the following descriptions taken in conjunction with the accompanying drawings, in which:
Corresponding numerals and symbols in the different figures generally refer to corresponding parts unless otherwise indicated. The figures are drawn to clearly illustrate the relevant aspects of the preferred embodiments and are not necessarily drawn to scale.
The making and using of the presently preferred embodiments are discussed in detail below. It should be appreciated, however, that the present invention provides many applicable inventive concepts that can be embodied in a wide variety of specific contexts. The specific embodiments discussed are merely illustrative of specific ways to make and use the invention, and do not limit the scope of the invention.
The present invention will be described with respect to preferred embodiments in a specific context, namely in the formation of power semiconductor trench cells. The invention may also be applied, however, to the formation of other types of trench structures, such as deep trench (DT) isolation or shallow trench isolation (STI) regions of semiconductor devices, as examples. Embodiments of the present invention may also be used in the fabrication of other trench structures, such as capacitors, memory devices, other types of transistors, conductive lines, and other devices, as examples.
In semiconductor device manufacturing, in many designs of integrated circuits, it is important that devices have uniform dimensions across the surface of a workpiece, for the electrical components to have uniform operating characteristics and parameters. However, it can be difficult to form devices having the same dimensions across a surface of a workpiece in some applications.
With reference now to
A liner 112 is deposited over the workpiece 110, lining the workpiece 110 top surface and the sidewalls and bottom surface of the trenches 106a, 106b, and 106c in the second region 104. The liner 112 may comprise an oxide such as silicon dioxide, for example.
To recess the liner 112 within the trenches 106a, 106b, and 106c, a layer of photosensitive material 114 comprising a positive or negative photoresist, for example, is formed over the workpiece 110, as shown in
In the prior art method shown, an etch process is used to remove a portion of the layer of photosensitive material 114 from over the workpiece 110, as shown in
At the start of the etch process, the layer of photosensitive material 114 has a first height 116, as shown in phantom in
Referring next to
After an additional period of time for the etch process, the layer of photosensitive material 114 has a fourth height 122, as shown in
The etch process is further continued, and the layer of photosensitive material 114 has a fifth height 124 at the end of the etch process, as shown in
A disadvantage of the prior art method shown in
The prior art method of recessing the liner 112 shown in
In the prior art recess method shown in
Furthermore, in some applications, it may be desirable to leave some areas of the workpiece 110 completely coated with the layer of photosensitive material, e.g., to leave a portion of the liner 112 in some regions of the workpiece 110 (not shown). In such applications, when utilizing the prior art recess method shown, an additional layer of photosensitive material would be required (not shown). For example, an additional layer of photosensitive material would need to be deposited over the workpiece 110 and patterned using an additional lithography mask, increasing costs and the number of manufacturing steps.
Embodiments of the present invention achieve technical advantages by providing novel methods of manufacturing semiconductor devices, wherein trench structures having elements with the same dimensions across a workpiece are formed. Before etching away portions of a layer of photosensitive material, a reverse mask comprising an inverted image of the plurality of trenches is used to pattern the layer of photosensitive material. Improved control over photosensitive material recess depth in the manufacturing process of semiconductor devices within trenches is achieved, to be described further herein.
Referring next to
Trenches 206a, 206b, and 206c are formed in a second region 204 of the workpiece 210, but not in a first region 202 of the workpiece 210, as shown in
The first lithography mask 230 may comprise an opaque material 234 such as chrome attached or bonded to a transparent material 232, such as quartz, as shown. Alternatively, the materials 234 and 232 of the first lithography mask 230 may comprise other materials, for example. The opaque material 234 may be patterned with a pattern for a plurality of trenches 236, as shown. The pattern for the plurality of trenches 236 is transferred to the workpiece 210 to form the trenches 206a, 206b, and 206c, by exposing the layer of photosensitive material (not shown) to light or energy through the lithography mask 230, for example. The layer of photosensitive material is then developed, and exposed portions of the layer of photosensitive material are then removed from the workpiece 210. The layer of photosensitive material is then used as a mask while exposed portions of the liner 212 are etched away in an etch process.
A first lithography mask 230 comprising a binary mask is shown in
The trenches 206a, 206b, and 206c may comprise a width w of about 20 nm to several μm, for example, although the trench width w may comprise other dimensions. The trenches 208 may vary in size and shape across a workpiece 210 (not shown), depending on the application. Some trenches 206a, 206b, and 206c may comprise a width w comprising about 50% greater than a minimum feature size (e.g., 1.5×the minimum feature size) of the semiconductor device 200 and lithography system used to pattern the trenches 206a, 206b, and 206c, for example. The width w of the trenches 206a, 206b, and 206c may comprise about 50 nm for a 32 nm ground rule design, or about 100 nm for a 65 nm ground rule design, as examples. Alternatively, the trenches 206a, 206b, and 206c may comprise a width w that is larger than 50% greater than the minimum feature size for example. The trenches 206a, 206b, and 206c may comprise a depth do from the top surface of the workpiece 210 of about 200 to 500 nm in some applications, although the depth do may also comprise about 0.2 to 10 μm or greater, for example. The trenches 206a, 206b, and 206c may comprise a length of up to about several millimeters, e.g., in a power semiconductor trench cell layout, as shown in
Preferably a plurality of trenches 206a, 206b, and 206c, e.g., two or more trenches 206a and 206b, are formed in the workpiece 210. The plurality of trenches 206a, 206b, and 206c may comprise a plurality of round, elliptical, square, or rectangular shaped trenches 206a, 206b, and 206c, for example. Alternatively, the plurality of trenches 206a, 206b, and 206c may comprise other shapes. Each of the plurality of trenches 206a, 206b, and 206c comprises sidewalls, a bottom surface, a lower portion, and an upper portion.
The plurality of trenches 206a, 206b, and 206c may comprise substantially vertical sidewalls, as shown. Alternatively, the plurality of trenches 206a, 206b, and 206c may comprise sidewalls that taper inwardly and downwardly, being wider at the top than at the bottom, or they may be wider at the bottom than at the top, not shown.
Next, a deposition process is used to deposit a first liner 212 on the top surface of the workpiece 210 and on the sidewalls and bottom surface of the trenches 206a, 206b, and 206c formed within the workpiece 210, as shown in
The first liner 212 is preferably substantially conformal in some embodiments, and preferably completely and evenly covers the top surface of the workpiece 210 and the sidewalls and bottom surfaces of the trenches 206a, 206b, and 206c formed in the workpiece 210. The liner 212 may comprise a conformal material having substantially the same thickness across the surface of the workpiece 210, for example, as shown. In other embodiments (not shown), the first liner 212 may be non-conformal, for example.
A layer of photosensitive material 214 is formed over the liner 212, as shown in
Next, a second lithography mask 240 is provided, as shown in
The second lithography mask 240 may comprise an opaque material 244 such as chrome attached or bonded to a transparent material 242 such as quartz, as shown. Materials 244 and 242 may alternatively comprise other materials, for example. The opaque material 244 may be patterned with a reverse pattern for the plurality of trenches 236, as shown. The reverse pattern for the plurality of trenches 236 is transferred to the workpiece 210 by exposing the layer of photosensitive material 214 to light or energy through the mask 240. The layer of photosensitive material 214 is then developed, and the layer of photosensitive material 214 is removed from over portions of the workpiece 210 other than over at least portions of the trenches 206a, 206b, and 206c, for example.
A second lithography mask 240 comprising a binary mask is shown in
After the layer of photosensitive material 214 is patterned using the second lithography mask 240, as shown in
At the beginning of the etch process, the layer of photosensitive material 214 comprises a height 250, and after the etch process has continued for a period of time, the height of the layer of photosensitive material 214 comprises 252, as shown in phantom in
Note that at the point in the etch process shown at 254, the edge of the layer of photosensitive material 214 has reached the edge of the trench 206a, 206b, and 206c opening. At this point 254, the recess process begins to etch into the depth of the trenches 206a, 206b, and 206c. However, the starting point that the etching begins to etch material 214 in the trench 206a, 206b, and 206c openings (e.g., below the top surface of the workpiece 210) is not dependent on the thickness of the layer of photosensitive material 214, but rather, advantageously, is dependent on the accuracy of the photosensitive material 214 placement, i.e., by overlay and critical dimension (CD) control of the alignment of the second lithography mask 240, for example, in accordance with embodiments of the present invention.
The etch process is continued, reducing the height and width of the layer of photosensitive material 214 even further, as shown in FIG. at height 256. Note that while the layer of photosensitive material 214 initially has a greater height over trench 206a than trench 206c, by this point in the etch process, the layer of photosensitive material 214 is reduced laterally to thin peaks that reside over each of the trenches 206a, 206b, and 206c.
Because the peaks are thin in a lateral direction, as the isotropic etch process continues, the thin peaks are laterally etched away, as shown in
After partially removing the layer of photosensitive material 214 from over the workpiece 210, leaving a portion of the layer of photosensitive material 214 remaining within the lower portion of the plurality of trenches 206a, 206b, and 206c over the liner 212, the layer of photosensitive material 214 is used as a mask to pattern the liner 212, removing the liner 212 from the sidewalls of the upper portion of each of the plurality of trenches 206a, 206b, and 206c. The etch process to recess the liner 212 preferably comprises an etch process adapted to remove the liner 212 but not remove portions of the workpiece 210 or the layer of photosensitive material 214, for example. The layer of photosensitive material 214 is then removed, as shown in
Note that the liner 212 may be tapered inwardly during the etch process to pattern the liner 212, leaving the top surface of the liner 212 residing at a dimension d8 proximate the trench sidewalls that is greater than the top surface of the liner 212 residing towards an inner portion of the trenches 206a, 206b, and 206c, at a dimension d9. Dimension d9 may be greater than dimension d8 by about 10 nm or greater, although the difference in dimensions d9 and d8 may alternatively comprise other values, for example.
In one embodiment, the layer of photosensitive material 214 may be patterned such that a portion of the layer of photosensitive material 214 remains over the top surface of the workpiece 210 in other regions of the workpiece 210, such as the first region 202, as shown in phantom in
In the embodiments shown in
After the second liner 270 is deposited or formed, a fill material 272 such as a semiconductive material in
The trenches 206a, 206b, and 206c comprising the first liner 212, second liner 270, and the fill material 272 comprise power transistors in the embodiment shown in
A dielectric material 274 such as boron-doped silicate glass (BSG) may be formed over each trench 206a, 206b, and 206c, and a conductive material 276 may be formed over the dielectric material 274. The conductive material 276 may be electrically coupled to active areas (not shown) in the workpiece 210. Advantageously, the uniformity of the recess depth of the first liner 212 defines the uniformity of the gate length, e.g., proximate the gate oxide 270 in the top portion of each trench 206a, 206b, and 206c. The semiconductor device 200 may include other elements, such as implanted regions in the workpiece 102 and gate contacts, not shown.
Additional conductive material layers and insulating material layers are then formed over the semiconductor device 200 (not shown), and the manufacturing process is continued to complete the fabrication of the semiconductor device 200.
Alternatively, the trench structures 206a, 206b, and 206c may comprise isolation regions formed between active areas formed in the workpiece 210, wherein the active areas may include transistors, complementary metal oxide semiconductor (CMOS) devices, memory devices, logic devices, power devices, capacitors, circuitry components, groups of circuitry components, and/or combinations thereof, as examples, not shown.
The optional portion of the liner 212′ that may be left remaining in the first region 202 in accordance with an embodiment of the present invention is shown in phantom in
Note that isolation structures may be formed comprising that trench structures that comprise STI regions, DT isolation regions, combinations of STI and DT isolation regions, or other types of isolation structures, as examples. For example, the trench structures may comprise STI regions formed in CMOS devices, which use both positive and negative channel devices in complementary configurations. The positive and negative channel devices of CMOS devices are typically referred to as p channel metal oxide semiconductor (PMOS) and n channel metal oxide semiconductor (NMOS) transistors, for example. In a CMOS device, the PMOS transistor is formed in an n well in the workpiece (e.g., a well implanted with n type dopants) and the NMOS transistor is formed in a p well in the workpiece. An STI region comprising the novel trench structures described herein may be formed between the n well and p well of the PMOS transistor and the NMOS transistor, respectively. The STI region may extend within a semiconductor substrate or workpiece by about the depth of the maximum n well and p well doping concentration, e.g., by about 0.2 to 1.0 μm, for example.
In
In this embodiment, the second lithography mask 340 comprises a lithography mask adapted to expose the layer of photosensitive material over portions of the workpiece 310, but not expose the layer of photosensitive material 314 over at least a portion of each of the plurality of trenches 306a, 306b, and 306c. The second lithography mask 340 is preferably not exactly aligned with the plurality of trenches 306a, 306b, and 306c patterned using the first lithography mask (e.g., such as mask 230 shown in
Thus, after the etch process for the layer of photosensitive material 314, the layer of photosensitive material 314 comprises a first dimension d8 and d9 on a first sidewall (e.g., the left sidewalls) of each of the plurality of trenches 306a, 306b, and 306c and a second dimension d10 and d11 on a second sidewall (e.g., the right sidewalls) opposing the first sidewall of each of the plurality of trenches 306a, 306b, and 306c. The first dimensions d8 and d9 may comprise zero; for example, as shown in
Then, after the recessed layer of photosensitive material 314 is used as a mask to pattern the liner 312, the liner comprises the first dimension d8 and d9 on the first sidewall of each of the plurality of trenches 306a, 306b, and 306c and the second dimension d10 and d11 on the second sidewall of each of the plurality of trenches 306a, 306b, and 306c, wherein the second dimension d10 and d11 is different than the first dimension d8 and d9. For example, proximate the sidewall of the trenches 306a, 306b, and 306c, the left sidewalls of the trenches 306a, 306b, and 306c shown in
In the embodiment shown in
Embodiments of the present invention include methods of manufacturing the novel trench structures described herein. Embodiments of the present invention also include semiconductor devices 200 and 300 manufactured in accordance with the methods of forming trench structures described herein, for example. The liners 212 and 312 and the fill materials 270 and 272 formed within the plurality of trenches 206a, 206b, 206c, 306a, 306b, and 306c described herein may comprise transistors, isolation regions, shallow trench isolation regions, deep trench isolation regions, capacitors, memory devices, power transistors, conductive lines (e.g., such as wordlines or bitlines of memory devices, or other conductive features), portions of other electrical devices, and/or combinations thereof, as examples. If the novel trench structures comprise isolation regions, the isolation regions may provide electrical isolation between a plurality of active areas formed within and/or over the workpiece, wherein the plurality of active areas comprise transistors, CMOS devices, memory devices, logic devices, power devices, capacitors, circuitry components, groups of circuitry components, and/or combinations thereof.
Advantages of embodiments of the invention include opening a bulk-deposited layer of photosensitive material 214 and 314 selectively using an inverted trench pattern mask 240 and 340, which avoids the transformation of resist-thickness changes into variations of the trench recess depth, and thus gaining more leverage to control the recess process for the layer of photosensitive material 214 and 314 within the trenches 206a, 206b, 206c, 306a, 306b, and 306c. Removing the thickest top portion of the layer of photosensitive material 214 and 314 in the first regions 202 and 302 simultaneously while recessing the photosensitive material 214 and 314 in the trenches 206a, 206b, 206c, 306a, 306b, and 306c in the second regions 204 and 304 is avoided, eliminating a dependence on resist-thickness variations, particularly at the edge of a trench array region, such as in regions 204 and 304. Thus, the formation of unusable or dummy devices at the edges of trench array regions 204 and 304 is avoided, preventing usable surface area loss of the workpiece 210 and 310.
The recess process of the layer of photosensitive material 214 and 314 into the trenches 206a, 206b, 206c, 306a, 306b, and 306c is triggered and controlled by the lateral dimension of the feature of photosensitive material 214 and 314 over the trenches 206a, 206b, 206c, 306a, 306b, and 306c as well as by the edge-placement of the feature of photosensitive material 214 and 314 relative to an edge of the trenches 206a, 206b, 206c, 306a, 306b, and 306c.
Improved uniformity in the recess depth of the liner 212 and 312 within the trenches 206a, 206b, 206c, 306a, 306b, and 306c is achieved by the novel etch processes and trench structures described herein, which is essential for device 200 and 300 performance in some semiconductor applications, for example. Variations in the liner 212 and 312 recess dimensions for trenches 206a, 206b, 206c, 306a, 306b, and 306c across a workpiece 210 and 310 of about 40 nm or less is achievable using the embodiments of the present invention described herein, for example.
Advantageously, the uniformity of the liner 212 and 312 recess depth is independent of the layer of photosensitive material 214 and 314 thickness deviations in accordance with embodiments of the present invention. Thus, the thickness of the layer of photosensitive material 214 and 314 (e.g., comprising a greater thickness in the first region 202 and 302 than in the second region 204 and 304 of the workpiece 210 and 310) does not influence or control the depth of the recesses formed in the layer of photosensitive material 214 and 314 within the trenches 206a, 206b, 206c, 306a, 306b, and 306c. Therefore, variations of thickness of the layer of photosensitive material 214 and 314 within the trenches 206a, 206b, 206c, 306a, 306b, and 306c are avoided and are no longer a problem, resulting in semiconductor devices 200 and 300 having uniform operating characteristics and parameters across a surface of a workpiece 210 and 310.
Furthermore, the lateral dimensions of the resist features (e.g., the patterned layer of photosensitive material 314 shown in
In addition, portions of the liner 212′ may be left remaining over the top surface of regions of the workpiece, such as in the first region 210, as shown in phantom at 212′ in
Although embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims. For example, it will be readily understood by those skilled in the art that many of the features, functions, processes, and materials described herein may be varied while remaining within the scope of the present invention. Moreover, the scope of the present application is not intended to be limited to the particular embodiments of the process, machine, manufacture, composition of matter, means, methods and steps described in the specification. As one of ordinary skill in the art will readily appreciate from the disclosure of the present invention, processes, machines, manufacture, compositions of matter, means, methods, or steps, presently existing or later to be developed, that perform substantially the same function or achieve substantially the same result as the corresponding embodiments described herein may be utilized according to the present invention. Accordingly, the appended claims are intended to include within their scope such processes, machines, manufacture, compositions of matter, means, methods, or steps.
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